MIR 500 User manual

User guide (en)

Date: 06/2020

Revision: v.1.4

express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties,

express or implied, in respect of this document or its contents. In addition, the contents of

the document are subject to change without prior notice. Every precaution has been taken in

the preparation of this manual. Nevertheless, MiR assumes no responsibility for errors or

omissions or any damages resulting from the use of the information contained.

Contact the manufacturer:

Mobile Industrial Robots A/S

Emil Neckelmanns Vej 15F

DK-5220 Odense SØ

www.mobile-industrial-robots.com

Phone: +45 20 377 577

Email: support@mir-robots.com

CVR: 35251235

Table of contents

1. About this document 6

1.1 Where to find more information 6

1.2 Version history 7

2. Safety 8

2.1 Safety message types 8

2.2 General safety precautions 9

2.3 Intended use 10

2.4 Users 11

2.5 Foreseeable misuse 12

2.6 Risk assessment 12

2.7 Residual risks 13

2.8 Safety-related functions and interfaces 13

2.9 Limiting safety-related functions 14

2.10 Safety-related electrical interfaces 15

2.11 Lithium battery 17

3. Getting started 18

3.1 In the box 18

3.2 Unpacking MiR500 19

3. IT security 23

3.3 Managing users and passwords 23

3.4 Software security patches 23

4. Commissioning 25

4.1 Powering up 25

4.2 Connecting to the robot interface 27

4.3 Driving the robot in Manual mode 28

4.4 Checking the hardware status 30

4.5 Charging the robot 31

4.6 Shutting down the robot 33

4.7 Creating and configuring a map 33

5. Planning 34

5.1 Analysis of the work environment 34

5.2 MiR500 user roles 36

5.3 Creating an efficient map 39

5.4 Creating efficient missions 44

5.5 Create mission 45

5.6 Mission editor 48

5.7 Error handling 50

5.8 Handover testing 51

6. Product presentation 54

6.1 Main features of MiR500 54

6.2 Identification label 56

6.3 MiR500 control panel 56

6.4 MiR500 operating modes 58

6.5 MiR500 external parts 59

6.6 MiR500 internal parts 62

6.7 Sensor system 69

6.8 Light indicators 75

7. Applications 77

7.1 Mounting a top module 77

7.2 Lift modifications 80

8. Maintenance 83

8.1 Regular weekly checks and maintenance tasks 83

8.2 Regular checks and replacements 84

8.3 Packing for transportation 87

9. Payload specifications 90

10. Interface specifications 92

10.1 General purpose interfaces 92

10.2 Safety interfaces 100

10.3 Connector list 103

1. About this document

This user guide explains how to set up and start operating your MiR500 and provides

examples of simple missions you can expand to your purposes. This guide also contains

information regarding the external and internal components of MiR500 along with a guide

for proper maintenance of the robot. You will also find information regarding safety and

specifications needed to commission a safe MiR500 robot application.

This guide explains how to set up and start operating your MiR500. You will also find

information regarding safety precautions that must be considered when operating MiR500.

NOTICE

Save this manual. It contains important safety and operating instructions.

1.1 Where to find more information

At www.mobile-industrial-robots.com, several additional resources are available. To access

more information, sign in to the Distributor site with your distributor account at

http://www.mobile-industrial-robots.com/en/account/. The following resources are

available:

•Quick starts describe how you start operating MiR robots quickly. This document is in

print in the box with the robots. Quick starts are available in multiple languages.

•User guides provide all the information you need to operate and maintain MiR robots.

User guides are available in multiple languages.

•Risk Analysis Guides include guidelines on how to create a risk assessment of your robot

solution.

•Commissioning guides describe how to commission your robot safely and prepare it to

operate in the workplace.

•Operating guides describe how to set up and use top modules and accessories, such as

charging stations, hooks, shelf lifts, and pallet lifts.

•Getting started guides describe how to set up products that are mainly software-based,

such as MiR Fleet.

•Reference guides contain descriptions of all the elements of the robot interface and MiR

Fleet interface. Reference guides are available in multiple languages.

•REST API references for MiR robots, MiR hooks, and MiR Fleet.

1. About this document

•The MiR network and WiFi guide specifies the performance requirements of your

network and how you must configure it for MiR robots and MiR Fleet to operate

successfully.

1.2 Version history

This table shows current and previous versions of this document and their interrelations with

hardware releases.

Revision Release

date Description HW

1.0 2018-10-

First edition. 1.0

1.1 2019-01-

New section: Maintenance.

Updated styles.

1.0

1.2 2019-07-

New sections: Create mission, Mission editor, Lift

modifications

Updated status lights

Added notice regarding using smart phones in flight

mode for manual driving

1.0

1.3 2019-10-

New section: Updating MiR500 software 1.1

1.4 2020-06-

New section: IT security.

Added new information about payload.

1.1

2. Safety

Read the information in this section before powering up and operating MiR500.

Pay particular attention to the safety instructions and warnings.

NOTICE

Mobile Industrial Robots disclaims any and all liability if MiR500 or its

accessories are damaged, changed, or modified in any way. Mobile Industrial

Robots cannot be held responsible for any damages caused to MiR500,

accessories, or any other equipment due to programming errors or

malfunctioning of MiR500.

2.1 Safety message types

This document uses the following safety message types.

WARNING

Indicates a potentially hazardous situation that could result in death or serious

injury. Carefully read the message that follows to prevent serious injury or

death.

CAUTION

Indicates a potentially hazardous situation that could result in minor or

moderate injury. Alerts against unsafe practices. Carefully read the message

that follows to prevent minor or moderate injury.

NOTICE

Indicates important information, including situations that can result in damage

to equipment or property.

2. Safety

2.2 General safety precautions

This section contains general safety precautions.

WARNING

Using a charger different from the one supplied by the manufacturer can

cause a fire.

•Use only the original charger.

WARNING

Lithium battery packs may get hot, explode or ignite and cause serious injury if

they are abused electrically or mechanically.

Observe the following precautions when handling and using lithium batteries:

•Do not short-circuit, recharge or connect with false polarity.

•Do not expose to temperature beyond the specified temperature range or

incinerate the battery.

•Do not crush, puncture or disassemble the battery. The battery contains

safety and protection devices, which, if damaged, may cause the battery to

generate heat, explode or ignite.

•Do not allow the battery to get wet.

•In the event the battery leaks and the fluid gets into one’s eye, do not rub

the eye. Rinse well with water and immediately seek medical care. If left

untreated, the battery fluid could cause damage to the eye.

•Use only the original charger (cable charger or charging station) and

always follow the instructions from the battery manufacturer.

WARNING

Attempting to charge batteries outside the robot can lead to electrical shock

or burns.

•Never charge the batteries outside the robot.

2. Safety

CAUTION

The robot cannot see staircases going downwards and holes in the floor.

•Mark staircases or holes on maps with Forbidden zones.

•Keep the maps up to date.

CAUTION

Use Flight Mode with smartphone control of the robot. Risk of personal injury

and/or damage to the robot.

•If you use Manual control with a smartphone to drive the robot, make sure

that the phone is set to Flight Mode. An incoming call on the smartphone

will interrupt control of the robot.

2.3 Intended use

MiR500 is intended to be commissioned and used in indoor industrial environments where

access for the public is restricted. For details about the environmental conditions in which

the MiR500 robot should operate, see Technical specifications on our website.

MiR500 is intended to be commissioned according to Commissioning on page25 and

prepared to the environment according to the guidelines. This is a prerequisite for safe

usage of MiR500.

MiR500 is designed and all risks are considered when used with one of the following types of

top applications:

•MiR500Pallet Lift used with MiR Lift Pallet Rack.

•MiR500EUPalletLift used with MiR EU Pallet Rack.

•A custom designed top application (including total payload) designed to fulfill the

following requirements:

•Must not increase the footprint of MiR500 and be within the requirements in Payload

specifications on page90

•Must not have any moving parts

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